Design And Experimental Research Of Lower Limb Rehabilitation Robot Used For Paraplegia Patients

Paraplegia is one of the diseases that seriously affect human life. The rehabilitation training of paraplegic patients is an important means to promote the recovery of patients. The rehabilitation robot contributes to the quantitative and long-term-oriented rehabilitation. The research on lower limb rehabilitation robot has important practical significance and application value to paraplegia patients.This paper combines the features of lower limb movement in the sagittal plane, designs a prototype of lower limb rehabilitation robot used for paraplegia patients, establishes a mathematical model of the drive joint and optimized design, and exports the mapping between drive space and joint space of rehabilitation robot.D-H method is used to establish the robot coordinate system, and the kinematics equation of rehabilitation robot is obtained. The trajectory planning of line motion and circle motion of the rehabilitation robot is obtained, which provides the parameters of joint angle for the prototype of rehabilitation robot. Based on the Monte Carlo method, the workspace of the rehabilitation robot is obtained by using the MATALB software, and the workspace graphics are given.The three-dimensional solid model of rehabilitation robot is established by applying the powerful 3D design software Pro/E, and it is imported into ADAMS through the interface software MECHANISM/Pro between Pro/E and ADAMS software. The simulations of the rehabilitation robot under two kinds of working conditions are realized by adding the joint angle data, which are generated by Matlab/Simulink and are filled by the spline curves under ADAMS, to the kinematic pairs of model. The displacement, velocity, joint angle and angular velocity, driving torque and other important parameters of the rehabilitation robot are measured in the simulation process. In the addition, the control system of the rehabilitation robot is designed, and the signals of the force sensors during moving of the rehabilitation robot are measured, which is the preparatory work for the future rehabilitation training base on electrical stimulation.